Intelligent driving function test mobile platform

Abstract

The invention provides an intelligent driving function test mobile platform which is connected with a remote control end, the remote control end outputs a control instruction, and the mobile platform responds to the control instruction and executes corresponding operation. The mobile platform comprises a plurality of power supply modules, a plurality of driving modules and a plurality of steering modules, the power supply modules respond to the power supply instruction to power on or power off the mobile platform, the driving modules are connected with the power supply modules, the driving modules respond to the driving instruction to move, the steering modules are connected with the power supply modules, and the steering modules are connected with the power supply modules. The steering module steers in response to the steering command. The mobile platform provided by the invention provides a low-cost and high-utilization-rate mobile system solution which is composed of different functional modules, can be combined and expanded in a user-defined manner according to actual use scenes and requirements, is suitable for various types and sizes of target property models such as false vehicles and dummies for intelligent driving function testing.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving vehicles, and in particular to a mobile platform for testing intelligent driving functions. Background Art

[0002] Real vehicle testing is an important part of the vehicle development process, and is also a necessary process for the verification and release of intelligent driving functions. It plays an important role in improving the driving safety of vehicles. In the real vehicle testing of intelligent driving functions, in order to ensure the accuracy and safety of the test, reduce the test cost and improve the test efficiency, a variety of traffic participant models will be used as target props, including pedestrians (adults, children), bicycles, motorcycles, cars, etc. In the test schemes currently used in the market, these target prop models need to be driven by various corresponding mobile platforms with different sizes, shapes, power and transmission structures to move, so as to simulate scenes such as pedestrians crossing the road, various mobile traffic participants and obstacles around the vehicle, etc., in order to test the performance of the vehicle's intelligent driving function under different circumstances. Therefore, to complete the comprehensive and complete intelligent driving test content, many mobile platforms of different sizes and types are needed to carry their own matching target prop models, which greatly increases the cost of the test and the space, equipment, manpower and other resources in various links such as storage, logistics and maintenance. In addition, when encountering equipment maintenance, the use progress of the mobile platform needs to be completely suspended, which greatly affects the overall rhythm and efficiency of the test project. On the other hand, with the continuous improvement of relevant policies and regulations in the field of intelligent driving, the requirements for intelligent driving related testing and verification are becoming more comprehensive and detailed. According to the existing technical solutions, various new mobile platforms will need to be added in the future to match the target object prop models and scenes required by various new policies and regulations, which is not conducive to the agile response and efficient development of various tasks.

[0003] In summary, the existing technical solutions mainly have the following deficiencies:

[0004] 1) Comprehensive and complete real-vehicle testing and verification of intelligent driving functions requires many mobile platforms of different sizes, shapes, power and transmission structures to carry various corresponding target prop models for movement, which greatly increases the testing cost and human and material resources such as storage, logistics and maintenance;

[0005] 2) The existing mobile platform is large and heavy. Once a part fails or is damaged and needs to be repaired, it needs to be disassembled as a whole, which has high maintenance costs. In addition, the platform will be completely shut down and unusable while being repaired, which greatly affects the overall rhythm and efficiency of the test work.

[0006] 3) Faced with the ever-improving policies and regulations in the field of intelligent driving and increasingly comprehensive and detailed testing and verification requirements, existing technical solutions need to be constantly adapted passively. In the future, various new mobile platforms will need to be added to match the target prop models that meet various new requirements, which is not conducive to the agile response and rapid completion of various tasks. Summary of the invention

[0007] In order to overcome the above shortcomings, the present invention proposes a modular and expandable intelligent driving function test mobile platform, which provides a low-cost, high-utilization mobile system solution composed of different functional modules, which can be customized and expanded according to actual usage scenarios and needs, and is suitable for various types and sizes of intelligent driving function test dummy cars, dummies and other target prop models.

[0008] The present invention proposes a mobile platform for intelligent driving function testing, which is connected to a remote control terminal, and the remote control terminal outputs a control instruction. The mobile platform responds to the control instruction and performs a corresponding operation. The control instruction includes a power supply instruction, a drive instruction and a steering instruction. The mobile platform includes:

[0009] a plurality of power modules, the power modules powering on or off the mobile platform in response to the power supply instruction;

[0010] A plurality of driving modules connected to the power module, wherein the driving modules move in response to the driving instructions;

[0011] A plurality of steering modules are connected to the power module, and the steering modules steer in response to the steering instruction.

[0012] In one embodiment, the driving module includes a first moving component, a first controller, a braking component, and an accelerating component;

[0013] The first moving component is located at the center of the driving module, and the first moving component drives the driving module to move;

[0014] The first controller is connected to the power module, and receives the driving instruction and transmits it to the braking component and the accelerating component, wherein the driving instruction includes a braking instruction and an accelerating instruction;

[0015] The braking component and the accelerating component are respectively connected to the first moving component. The braking component responds to the braking instruction and drives the first moving component to complete braking. The accelerating component responds to the accelerating instruction and drives the first moving component to complete movement.

[0016] In one embodiment, the brake assembly includes: a brake motor and a brake disc, the brake motor receives the brake command and transmits it to the brake disc, and the brake disc receives the brake command and presses the moving assembly to complete braking.

[0017] In one embodiment, the acceleration component includes: a driving motor, which receives the acceleration instruction and drives the first moving component to move.

[0018] In one embodiment, the steering module comprises:

[0019] A second moving assembly is located at the center of the steering module, and the second moving assembly drives the steering module to rotate;

[0020] A steering assembly is connected to the second movable assembly. The steering assembly drives the second movable assembly to complete rotation in response to the steering instruction. The steering assembly includes a second controller, a steering motor, a transmission belt and a steering link. The second controller receives the steering instruction and transmits it to the steering motor. The steering motor responds to the steering instruction. The output shaft of the steering motor drives the driven shaft of the steering motor to rotate through the transmission belt, and the gear of the driven shaft drives the steering link to move. The steering link drives the second movable assembly to rotate.

[0021] In one embodiment, the power module includes: a battery and an electronic control system, wherein the battery and the electronic control system are connected to the drive module and the steering module to power on or off the drive module and the steering module.

[0022] In one embodiment, the mobile platform further includes one or more slave modules and one or more expansion modules, and the slave modules or the expansion modules are respectively connected to the power module or the driving module or the steering module or the expansion module.

[0023] In one embodiment, the driving module, the power module, the steering module, the expansion module and the driven module are detachably and rotatably connected.

[0024] In one embodiment, the sides of the driving module, power module, steering module, expansion module and driven module are provided with module connector mounting grooves and contact interface turntables, the module connector mounting grooves are used to accommodate magnetic sheets or Velcro components, and each module is physically connected through the magnetic sheets or Velcro components, the contact interface turntable is rotatable, and a contact interface is provided on the contact interface turntable, and each module is electrically connected through the contact interface.

[0025] In one embodiment, the slave module and the expansion module both include a shell, the upper cover of the shell can be opened, and the shell is used to install functional components, the functional components include a storage device, a positioning device, a visual perception device, and a data acquisition sensor. The slave module also includes a third mobile component, and the third mobile component is located at the center of the slave module.

[0026] The intelligent driving function test mobile platform of the present invention has the following beneficial effects:

[0027] 1) Users can customize the combination of various functional modules according to the type and size of the target prop model required for the actual test to form the best mobile platform form suitable for the test project, which greatly improves the adaptability and utilization of the product. There is no need to purchase mobile platforms of various sizes in the existing technical solutions, which significantly saves testing costs and human and material resources such as storage and logistics.

[0028] 2) The present invention proposes an innovative module connection solution, in which the modules are connected and fixed to each other through a rotatable contact interface and a magnetic or Velcro assembly. The user can easily and quickly realize the physical assembly of different modules, and flexibly adjust the relative positions of the positive and negative interfaces by rotating the contact interface turntable to meet the personalized module splicing or functional modification and expansion solutions.

[0029] 3) The present invention provides a brand-new distributed software control solution corresponding to the hardware combination mode. After the user establishes a graphic module software mapping consistent with the actual hardware assembly solution in the visual graphic editing page and determines the forward direction of the mobile platform, the system can automatically complete the adaptive matching and distributed control synchronization of the torque directions of all driving motors and the Ackerman angles of the steering motors of the mobile platform, and can read the power of each power module in real time. The operation is simple, the use is interesting, and it can be quickly started and supports various customized solutions.

[0030] 4) If a part fails or is damaged and needs repair, there is no need to dismantle the entire system and stop work. You only need to repair or replace the problematic module, and the other modules can continue to be used in combination, which significantly reduces maintenance costs and ensures test progress and efficiency. There is no need to frequently stop the mobile platform for charging. Continuous and uninterrupted testing can be achieved by replacing or adding power modules.

[0031] 5) The present invention can be quickly adapted to the constantly improving policies and regulations in the field of intelligent driving and the increasingly comprehensive and detailed test and verification requirements. There is no need to purchase various new mobile platforms to match the target object prop models that meet various new requirements, ensuring agile response and rapid development of various tasks.

[0032] 6) The present invention can be used in combination with functional components such as storage, positioning, cameras and other various sensors to achieve functions such as improving test accuracy and increasing data storage, further enriching the functions and ecology of the entire device, and also increasing the fun of using the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the correspondence between each graphic module in the visual graphic editing page and the actual hardware module;

[0034] Figure 2 This is a schematic diagram of the structure of a driving module according to an embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram of a side connection scheme of each module according to an embodiment of the present invention;

[0036] Figure 4 This is a schematic diagram of the structure of a steering module according to an embodiment of the present invention;

[0037] Figure 5 This is a schematic diagram of the structure of a power module according to an embodiment of the present invention;

[0038] Figure 6 This is a schematic diagram of the structure of a driven module according to an embodiment of the present invention;

[0039] Figure 7 This is a schematic diagram of the expansion module structure of an embodiment of the present invention;

[0040] Figure 8 It is a schematic diagram of the steps for using the product and the adaptive matching and synchronization scheme of the motors of each module;

[0041] Fig. 9 It is a schematic diagram of the main signals of user interaction and related parts;

[0042] Fig.10 This is a schematic diagram of the combination of the mobile platform modules that can be used as the smallest unit of the present invention;

[0043] Fig.11 This is a schematic diagram of a test dummy mounted on a mobile platform as the smallest unit of the present invention;

[0044] Fig.12 This is a schematic diagram of a large platform module assembly according to an embodiment of the present invention;

[0045] Fig.13 This is a schematic diagram of a large platform carrying a dummy test vehicle according to an embodiment of the present invention.

[0046] Reference numerals

[0047] 1. Drive module; 101. Shock absorber; 102. Brake disc; 103. Brake motor; 104. First housing; 105. First wheel; 106. Shock absorber bracket; 107. First controller; 108. Drive motor; 2. Steering module; 201. Gear; 202. Wheel connecting rod; 203. Second controller; 204. Second housing; 205. Second wheel; 206. Steering connecting rod; 207. Drive belt; 208. Steering motor; 3. Power module; 301. Third housing; 302. Battery and electronic control system; 303. Switch; 4. Driven module; 401. Wheel shaft; 402. Third wheel; 5. Expansion module; 6. Module connector mounting slot; 7. Contact interface turntable; 8. Contact interface; 9. Wiring harness. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the invention and are not used to limit the invention.

[0049] The present invention proposes a mobile platform for testing intelligent driving functions, which is connected to a remote control terminal, and the remote control terminal outputs a control instruction, and the mobile platform responds to the control instruction and performs a corresponding operation. Among them, the control instruction includes a power supply instruction, a drive instruction and a steering instruction. The mobile platform for testing intelligent driving functions includes: a plurality of drive modules 1, a plurality of steering modules 2 and a plurality of power modules 3. Among them, the power module 3 responds to the power supply instruction output by the remote control terminal to power on or off the mobile platform. The drive module 1 and the steering module 2 are respectively connected to the power module 3, the drive module moves in response to the drive instruction output by the remote control terminal, and the steering module turns in response to the steering instruction output by the remote control terminal.

[0050] Further, the driving module 1 includes a first moving component, a first controller 107, a braking component and an accelerating component. Figure 2 As shown, the first moving component is located at the center of the driving module 1, and the first moving component drives the driving module 1 to move. The first controller 107 is connected to the power module 3, and the first controller 107 receives the driving instruction and transmits it to the braking component and the accelerating component. The driving instruction includes a braking instruction and an accelerating instruction. The braking component and the accelerating component are respectively connected to the first moving component, the braking component responds to the braking instruction and drives the first moving component to complete braking, and the accelerating component responds to the accelerating instruction and drives the first moving component to complete movement.

[0051] In this embodiment, the brake assembly includes: a brake motor 103 and a brake disc 102. The brake motor 103 receives a brake command output by the remote control end and transmits it to the brake disc 102. The brake disc 102 receives the brake command and presses the first moving assembly to complete the braking. The acceleration assembly includes a drive motor 108. The drive motor 108 receives an acceleration command output by the remote control end and drives the first moving assembly to move. In this embodiment, the first moving assembly is preferably the first wheel 105.

[0052] The driving module 1 also includes a shock absorbing assembly connected to the first moving assembly, and the shock absorbing assembly includes a shock absorber 101 and a shock absorber bracket 106. The shock absorber 101 and the shock absorber bracket 106 constitute a shock absorbing system of the mobile platform, which helps the mobile platform to maintain a smooth driving when carrying a target object prop model through a small bumpy road, thereby ensuring the fixation and stability of the target object prop model and the smooth and reliable testing.

[0053] The driving module 1 further comprises a first housing 104. The four sides of the first housing 104 are provided with a module connector mounting slot 6 and a contact interface turntable 7. The contact interface turntable 7 is provided with a contact interface 8. Figure 2 .

[0054] Further, if Figure 4 As shown, the steering module 2 includes a second moving assembly and a steering assembly. The second moving assembly is located at the center of the steering module 2, and the second moving assembly drives the steering module 2 to rotate. The steering assembly is connected to the second moving assembly, and the steering assembly drives the second moving assembly to complete the rotation in response to the steering command output by the remote control end. The steering assembly includes a second controller 203, a steering motor 208, a transmission belt 207 and a steering link 206. The second controller 203 receives the steering command and transmits it to the steering motor 208. The steering motor 208 responds to the steering command, and the output shaft of the steering motor 208 drives the driven shaft of the steering motor 208 to rotate through the transmission belt 207, and then the gear 201 of the driven shaft drives the steering link 206 to move, and the steering link 206 drives the second moving assembly to rotate.

[0055] In this embodiment, the second moving component is the second wheel 205 and the wheel link 202. The wheel link 202 is connected to the steering link 206. When the steering link 206 is moved by the force, the movement is transmitted to the wheel link 202 through the connection point. The wheel link 202 moves accordingly, thereby driving the second wheel 205 to turn. The drive module 1 also includes a second shell 204, and the four sides of the second shell 204 are provided with a module connector installation slot 6 and a contact interface turntable 7, see Figure 4 The second moving assembly of the steering module 2 is also provided with a shock absorbing assembly and a braking assembly, which will not be described in detail here.

[0056] The power module 3 includes a battery and an electric control system 302, which is connected to the drive module 1 and the steering module 2 to power on or off the drive module 1 and the steering module 2. The power module 3 also includes a third housing 301, on which a switch 303 is provided, which controls whether the power module 3 is working. The four sides of the third housing 301 are provided with a module connector mounting groove 6 and a contact interface rotary disk 7, on which a contact interface 8 is provided, see Figure 5 .

[0057] Furthermore, the driving module 1 , the steering module 2 , the power module 3 , the driven module 4 and the expansion module 5 are detachably and rotatably connected.

[0058] Furthermore, the sides of the driving module 1, steering module 2, power module 3, driven module 4 and expansion module 5 are provided with module connector mounting slots 6 and contact interface turntables 7. The module connector mounting slots 6 are used to accommodate magnetic sheets or Velcro components, and each module is connected through a magnetic sheet or Velcro component. A contact interface 8 is provided on the contact interface turntable 7, and the contact interface 8 is connected to the controller and motor in the module through a wiring harness 9. When the driving module 1 and the steering module 2 are respectively connected to the power module 3, the power output to each internal electrical appliance can be realized. The user can rotate the contact interface turntable 7 to flexibly adjust the relative positions of the positive and negative interfaces to meet personalized module splicing or modification plans.

[0059] Specifically, in the driving module 1, the first housing 104 is connected to the first controller 107, the driving motor 109 and the brake motor 103 through the wiring harness 9. In the steering module 2, the second housing 204 is connected to the second controller 203 and the steering motor 208 through the wiring harness 9.

[0060] The mobile platform further includes one or more driven modules 4 and one or more expansion modules 5. The driven modules 4 or the expansion modules 5 are connected to the power module 3 or the driving module 1 or the steering module 2 respectively.

[0061] like Figure 6As shown, the driven module 4 mainly includes a wheel shaft 401, a third wheel 402, a fourth shell and a connection component (module connector mounting slot 6 and contact interface turntable 7), etc. The third wheel 402 is located at the center of the driven module. The wheel of the driven module 4 has no power system. If larger or heavier equipment needs to be carried, the driven module 4 can be used in conjunction to expand the load-bearing area and increase road support. There are no electrical equipment or wiring harnesses inside the driven module. The physical connection and fixation with other modules is directly achieved through the module connector mounting slot and the magnetic suction sheet or Velcro assembly. The design of the contact interface turntable and the external contact interface is also retained, which is convenient for later functional upgrades or modifications according to actual usage. The wheels of the driven module are also equipped with a shock absorption system, which will not be repeated here.

[0062] like Figure 7 As shown, the expansion module 5 includes a fifth shell and a connection assembly (module connector mounting slot 6 and contact interface turntable 7) that are consistent with other modules. There are no electrical equipment or wiring harnesses inside the expansion module 5. If larger or heavier equipment needs to be carried, the expansion module 5 can be used in conjunction to expand the carrying area.

[0063] The upper covers of the fourth and fifth shells of the slave module 4 and the expansion module 5 can be opened, and the fourth and fifth shells are used to install functional components, including storage devices, positioning devices, visual perception devices, and data acquisition sensors. Users can choose to install functional components such as storage, positioning, cameras, and other sensors inside the expansion module according to actual needs, to improve test accuracy, increase data storage, and further enrich the functions and ecology of the entire device.

[0064] The mobile platform of the present invention is composed of several functional modules, including a driving module, a steering module, a power module, a driven module, an expansion module, etc. The modules are connected and fixed to each other through an innovative rotatable contact interface and a magnetic or Velcro assembly. Users can customize the connection and combination of different functional modules according to the type and size of the target object prop model required for the actual test project, and assemble them into a mobile platform with the best configuration form suitable for the test project, which greatly improves the adaptability and utilization of the product. There is no need to purchase various different mobile platforms in the existing technical solutions, which significantly saves the test cost and human and material resources such as storage and logistics. At the same time, if a part fails or is damaged and needs to be repaired, there is no need to disassemble the whole part and stop working. Only the problematic module needs to be repaired or replaced, and other modules can continue to be used in combination, which greatly reduces the maintenance cost and ensures the progress and efficiency of the test.

[0065] In terms of software control, after assembling and splicing various hardware modules according to actual needs, users can establish a remote control connection with the remote control or mobile device remote control software, arrange and combine the corresponding graphic modules in the visual graphic editing page, establish a software mapping consistent with the actual hardware assembly plan, and determine the forward direction of the mobile platform. The system automatically completes the adaptive matching and distributed control synchronization of the torque direction of all drive motors and the Ackerman angle of the steering motor of the mobile platform, and can install test props and extended function components, remotely control the mobile platform for testing, and can read the power of each power module in real time, and replace the low-power power module in time. The operation is simple and interesting to use. It can be quickly started and supports various custom solutions. The specific product usage steps and the adaptive matching and synchronization solutions of the motors of each module will be introduced in detail later.

[0066] Users can selectively purchase different functional modules and quantities based on test content, time schedule, cost budget and other factors, and carry different target prop models for testing. By combining the drive module, steering module and power module, a minimum unit available mobile platform carrying a small target prop model can be formed. In addition, there are driven modules and expansion modules. If you want to carry larger or heavier equipment, you can choose multiple drive modules to increase power output, and cooperate with multiple expansion modules and driven modules to expand the load area. If you need a longer endurance for continuous testing, you can choose multiple power modules to use simultaneously or in replacement.

[0067] In addition, after the user customizes the combination to form a mobile platform, they can also choose to install functional components such as storage, positioning, cameras and various other sensors according to actual needs to further enrich the functions and ecology of the entire device.

[0068] The steps for using the product and the adaptive matching and synchronization solutions for each module motor are as follows: Figure 8 As shown in the figure, the main signals of user interaction and related parts are as follows Fig. 9 The specific introduction is as follows.

[0069] In the first step, the user designs a module combination plan based on actual needs and assembles and splices the hardware modules.

[0070] The second step is to turn on the switches of each power module and the remote control or mobile device remote control software (hereinafter collectively referred to as the remote control end). The drive and steering modules connected to each power module will be automatically powered on, and the internal controllers of each drive, steering and power module will send a remote control connection establishment request to the remote control end. After receiving the request, the remote control end will feedback a confirmation signal to the controller of each module and establish a remote control connection with each module. Each module will continue to send self-test and diagnostic signals.

[0071] In the visual graphics editing page of the remote control, there are various graphic modules corresponding to the actual hardware modules, such as Figure 1As shown. The user selects, drags, rotates, and adjusts the graphic modules corresponding to each hardware module according to the relative position, direction, and connection relationship of each hardware module in the actual assembly scheme, and arranges them to form a graphic module software mapping that is consistent with the actual hardware assembly scheme. It should be noted that for each drive and steering module, there are thick arrows above the actual hardware module and in the box of the graphic module in the visual graphic editing page (see below). Figure 2 , Figure 4 The thick arrows and Figure 1 The thick arrow pointing right in the box of the drive and steering module is used to indicate the actual direction of the head and tail of each module. When performing software mapping, the user must keep the arrow directions of each graphic module consistent with the actual hardware module to accurately perform subsequent motor adaptive matching; at the same time, for several modules with the same function, each hardware module can be numbered independently, and the same number is also displayed in the corresponding graphic module box on the visual graphic editing page (customizable), so that users can distinguish and accurately arrange the graphic modules.

[0072] The third step is to select the arrow according to the prompt in the visual graphic editing page of the remote control end to determine the forward direction of the mobile platform. The system automatically completes the adaptive matching and distributed control synchronization of the torque direction of all drive motors and the Ackerman angle of the steering motor of the mobile platform. The user's remote control end system will identify the accurate relative position, direction and connection relationship of each module based on the software mapping of the graphic module completed in the previous step and the forward direction of the mobile platform determined in this step, comprehensively judge and confirm the torque direction (positive / negative) of each drive motor, calculate the angle of each steering motor that meets the Ackerman steering relationship, and send control instructions to each drive and steering module at the same time according to the user's remote control operation.

[0073] The fourth step is to install test props and expanded functional components, and remotely control the mobile platform for testing.

[0074] At the same time, each power module also sends the remaining battery power to the user's remote control through the electronic control system, and displays it in the box of each power graphic module in the visual graphic editing page. Users can understand the power of each power module at any time and replace the low-power power module in time.

[0075] The visual graphics editing page of the remote control will also be described later. Fig.10 and Fig.12 Provide specific demonstration.

[0076] The following are some examples of module connection solutions.

[0077] like Fig.10 As shown, by connecting and combining the drive module, the steering module and the power module, a minimum unit available mobile platform carrying a small target object prop model can be formed. Fig.10(a) and (b) are schematic diagrams of two different forms of the smallest available mobile platform, both of which are composed of two drive modules, two steering modules and two power modules, which can be selected according to the shape and size of the actual target prop model. Fig.10 The user remote control visual graphics editing page mentioned above is also displayed. After the user completes the graphics module software mapping, select Fig.10 The direction of the mobile platform can be determined by one of the first and last arrows on the outside of the mobile platform in (a) or (b).

[0078] by Fig.10 Taking the (a) scheme in the figure as an example, the minimum unit can be a test scenario where a mobile platform carries a test dummy. Fig.11 As shown in the figure, A is a test dummy (adult / child), B is a set of drive modules, C is a set of power modules, and D is a set of steering modules.

[0079] If you need to carry larger or heavier equipment, you can choose multiple drive modules to increase power output, and use multiple expansion modules and driven modules to expand the carrying area. If you need a longer battery life, you can choose multiple power modules to use simultaneously or in replacement. Fig.12 shown.

[0080] Fig.13 A schematic diagram of a test scenario in which a large platform is equipped with a test dummy car is shown. In the figure, 1 is the test dummy car, and the mobile platform can be customized and assembled by the user.

[0081] After the user customizes the combination to form a mobile platform, you can also choose to install functional components such as storage, positioning, cameras and various other sensors on the mobile platform or inside the expansion module and slave module according to actual needs, so as to improve test accuracy, increase data storage and other functions, and further enrich the functions and ecology of the entire device.

[0082] The intelligent driving function test mobile platform of the present invention has the following beneficial effects:

[0083] 1) Users can customize the combination of various functional modules according to the type and size of the target prop model required for the actual test to form the best mobile platform form suitable for the test project, which greatly improves the adaptability and utilization of the product. There is no need to purchase mobile platforms of various sizes in the existing technical solutions, which significantly saves testing costs and human and material resources such as storage and logistics.

[0084] 2) The present invention proposes an innovative module connection solution, in which the modules are connected and fixed to each other through a rotatable contact interface and a magnetic or Velcro assembly. The user can easily and quickly realize the physical assembly of different modules, and flexibly adjust the relative positions of the positive and negative interfaces by rotating the contact interface turntable to meet the personalized module splicing or functional modification and expansion solutions.

[0085] 3) The present invention provides a brand-new distributed software control solution corresponding to the hardware combination mode. After the user establishes a graphic module software mapping consistent with the actual hardware assembly solution in the visual graphic editing page and determines the forward direction of the mobile platform, the system can automatically complete the adaptive matching and distributed control synchronization of the torque directions of all driving motors and the Ackerman angles of the steering motors of the mobile platform, and can read the power of each power module in real time. The operation is simple, the use is interesting, and it can be quickly started and supports various customized solutions.

[0086] 4) If a part fails or is damaged and needs repair, there is no need to dismantle the entire system and stop work. You only need to repair or replace the problematic module, and the other modules can continue to be used in combination, which significantly reduces maintenance costs and ensures test progress and efficiency. There is no need to frequently stop the mobile platform for charging. Continuous and uninterrupted testing can be achieved by replacing or adding power modules.

[0087] 5) The present invention can be quickly adapted to the constantly improving policies and regulations in the field of intelligent driving and the increasingly comprehensive and detailed test and verification requirements. There is no need to purchase various new mobile platforms to match the target object prop models that meet various new requirements, ensuring agile response and rapid development of various tasks.

[0088] 6) The present invention can be used in combination with functional components such as storage, positioning, cameras and other various sensors to achieve functions such as improving test accuracy and increasing data storage, further enriching the functions and ecology of the entire device, and also increasing the fun of using the product.

[0089] The above-described embodiments are only further explanations of the present invention, and are not intended to limit the present invention in other forms. The present invention may also have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art may make various corresponding modifications and changes according to the present invention, but these corresponding modifications and changes should all fall within the protection scope of the present invention.

Claims

1. A mobile platform for testing intelligent driving functions, connected to a remote control terminal, which outputs a control instruction, and the mobile platform responds to the control instruction and performs a corresponding operation, wherein the control instruction includes a power supply instruction, a drive instruction and a steering instruction, and is characterized in that: The mobile platform comprises: a plurality of power modules, the power modules powering on or off the mobile platform in response to the power supply instruction; A plurality of driving modules connected to the power module, wherein the driving modules move in response to the driving instructions; A plurality of steering modules are connected to the power module, and the steering modules steer in response to the steering instruction.

2. The intelligent driving function test mobile platform according to claim 1, characterized in that: The driving module includes a first moving component, a first controller, a braking component and an accelerating component; The first moving component is located at the center of the driving module, and the first moving component drives the driving module to move; The first controller is connected to the power module, and receives the driving instruction and transmits it to the braking component and the accelerating component, wherein the driving instruction includes a braking instruction and an accelerating instruction; The braking component and the accelerating component are respectively connected to the first moving component. The braking component responds to the braking instruction and drives the first moving component to complete braking. The accelerating component responds to the accelerating instruction and drives the first moving component to complete movement.

3. The intelligent driving function test mobile platform according to claim 2, characterized in that: The brake assembly includes: a brake motor and a brake disc. The brake motor receives the brake command and transmits it to the brake disc. The brake disc receives the brake command and presses the moving assembly to complete the braking.

4. The intelligent driving function test mobile platform according to claim 2, characterized in that: The acceleration component includes: a driving motor, which receives the acceleration instruction and drives the first moving component to move.

5. The intelligent driving function test mobile platform according to claim 1, characterized in that: The steering module comprises: A second moving assembly is located at the center of the steering module, and the second moving assembly drives the steering module to rotate; A steering assembly is connected to the second movable assembly. The steering assembly drives the second movable assembly to complete rotation in response to the steering instruction. The steering assembly includes a second controller, a steering motor, a transmission belt and a steering link. The second controller receives the steering instruction and transmits it to the steering motor. The steering motor responds to the steering instruction. The output shaft of the steering motor drives the driven shaft of the steering motor to rotate through the transmission belt, and the gear of the driven shaft drives the steering link to move. The steering link drives the second movable assembly to rotate.

6. The intelligent driving function test mobile platform according to claim 1, characterized in that: The power module includes: a battery and an electronic control system, and the battery and the electronic control system are connected to the drive module and the steering module to power on or off the drive module and the steering module.

7. The intelligent driving function test mobile platform according to claim 1, characterized in that: The mobile platform further includes one or more driven modules and one or more expansion modules, and the driven module or the expansion module is connected to the power module or the driving module or the steering module or the expansion module respectively.

8. The intelligent driving function test mobile platform according to claim 7, characterized in that: The driving module, power module, steering module, expansion module and driven module are detachably and rotatably connected.

9. The intelligent driving function test mobile platform according to claim 7, characterized in that: The sides of the driving module, power module, steering module, expansion module and driven module are provided with module connector mounting grooves and contact interface turntables. The module connector mounting grooves are used to accommodate magnetic sheets or Velcro components, and each module is physically connected through the magnetic sheets or Velcro components. The contact interface turntable is rotatable, and a contact interface is provided on the contact interface turntable, and each module is electrically connected through the contact interface.

10. The intelligent driving function test mobile platform according to claim 7, characterized in that: The slave module and the expansion module both include a shell, the upper cover of the shell can be opened, and the shell is used to install functional components, the functional components include storage devices, positioning devices, visual perception devices, and data acquisition sensors. The slave module also includes a third mobile component, and the third mobile component is located at the center of the slave module.

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